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<div class="title">fitting_curve_pdm.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef NURBS_FITTING_CURVE_PDM_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define NURBS_FITTING_CURVE_PDM_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_tools.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_data.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_solve.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>on_nurbs</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html">   57</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html">FittingCurve</a></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structpcl_1_1on__nurbs_1_1_fitting_curve_1_1_parameter.html">   60</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve_1_1_parameter.html">Parameter</a></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;          <span class="keywordtype">double</span> smoothness;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;          <a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve_1_1_parameter.html">Parameter</a> (<span class="keywordtype">double</span> smoothness = 0.000001) :</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;            smoothness (smoothness)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;          {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;          }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        };</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <a class="code" href="class_o_n___text_log.html">ON_TextLog</a> m_out;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> m_nurbs;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve.html">NurbsDataCurve</a> *m_data;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#acccbca624d0279f369c0ddc3421cb0e3">   77</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#acccbca624d0279f369c0ddc3421cb0e3">FittingCurve</a> (<span class="keywordtype">int</span> order, <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve.html">NurbsDataCurve</a> *data);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afeb7342a529b00bcc0ce6091cac8783f">   83</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afeb7342a529b00bcc0ce6091cac8783f">FittingCurve</a> (<a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve.html">NurbsDataCurve</a> *data, <span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;ns);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afe26453bc08dabd7215946a7ff4f9841">   91</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afe26453bc08dabd7215946a7ff4f9841">findElement</a> (<span class="keywordtype">double</span> xi, <span class="keyword">const</span> std::vector&lt;double&gt; &amp;elements);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ac986784079b5dafd7ab578b0415f8a7c">   95</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ac986784079b5dafd7ab578b0415f8a7c">refine</a> ();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aefb1370337dea2ba393b464fe0fcd0a0">  102</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aefb1370337dea2ba393b464fe0fcd0a0">assemble</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve_1_1_parameter.html">Parameter</a> &amp;parameter);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afd08fb0cd959bc8d6e5fb3dcf2049f27">  108</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afd08fb0cd959bc8d6e5fb3dcf2049f27">solve</a> (<span class="keywordtype">double</span> damp = 1.0);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a0cbfb2926c5daeb77755ee3ef7dedcdf">  114</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a0cbfb2926c5daeb77755ee3ef7dedcdf">updateCurve</a> (<span class="keywordtype">double</span> damp);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keyword">static</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a></div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ae5ab9b5d79b88150a791f259538106f9">  122</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ae5ab9b5d79b88150a791f259538106f9">initNurbsCurve2D</a> (<span class="keywordtype">int</span> order, <span class="keyword">const</span> vector_vec2d &amp;data);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keyword">static</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a3812e959c790f53fa88d286caf1f3c87">  130</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a3812e959c790f53fa88d286caf1f3c87">initNurbsCurvePCA</a> (<span class="keywordtype">int</span> order, <span class="keyword">const</span> vector_vec3d &amp;data, <span class="keywordtype">int</span> ncps = 0, <span class="keywordtype">double</span> rf = 1.0);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a9a07a7bb3dfa8a764ebe35c48b8a7933">  145</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a9a07a7bb3dfa8a764ebe35c48b8a7933">inverseMapping</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector3d &amp;pt, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;hint, <span class="keywordtype">double</span> &amp;error,</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                        Eigen::Vector3d &amp;p, Eigen::Vector3d &amp;t, <span class="keywordtype">int</span> maxSteps = 100, <span class="keywordtype">double</span> accuracy = 1e-6,</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                        <span class="keywordtype">bool</span> quiet = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a04eccfba654fc6d6ab7638720bed073b">  155</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a04eccfba654fc6d6ab7638720bed073b">findClosestElementMidPoint</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector3d &amp;pt);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ae75cb080d3b9eb370bb51afd928f0b9c">  159</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ae75cb080d3b9eb370bb51afd928f0b9c">setQuiet</a> (<span class="keywordtype">bool</span> val)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        {</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          m_quiet = val;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          m_solver.setQuiet (val);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keyword">static</span> std::vector&lt;double&gt;</div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a7dd6266488a9f753b5d55832b5d03036">  169</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a7dd6266488a9f753b5d55832b5d03036">getElementVector</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aa84f2a5cf4c63f4f32cb6c64401e933e">  173</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aa84f2a5cf4c63f4f32cb6c64401e933e">addPointConstraint</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;param, <span class="keyword">const</span> Eigen::Vector3d &amp;point, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a38742e8ab93864b2bc418a1ecb452cdd">  177</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a38742e8ab93864b2bc418a1ecb452cdd">addCageRegularisation</a> (<span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aa2e3b04432b40f2501450476f4d9d8a5">  181</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aa2e3b04432b40f2501450476f4d9d8a5">assembleInterior</a> (<span class="keywordtype">double</span> wInt, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">NurbsSolve</a> m_solver;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordtype">bool</span> m_quiet;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="keywordtype">int</span> in_max_steps;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordtype">double</span> in_accuracy;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    };</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;}</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclass_o_n___nurbs_curve_html"><div class="ttname"><a href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a></div><div class="ttdef"><b>Definition:</b> opennurbs_nurbscurve.h:30</div></div>
<div class="ttc" id="aclass_o_n___text_log_html"><div class="ttname"><a href="class_o_n___text_log.html">ON_TextLog</a></div><div class="ttdef"><b>Definition:</b> opennurbs_textlog.h:23</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html">pcl::on_nurbs::FittingCurve</a></div><div class="ttdoc">Fitting a 3D B-Spline curve to point-clouds using point-distance-minimization and optionally asymmetr...</div><div class="ttdef"><b>Definition:</b> fitting_curve_pdm.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_a04eccfba654fc6d6ab7638720bed073b"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a04eccfba654fc6d6ab7638720bed073b">pcl::on_nurbs::FittingCurve::findClosestElementMidPoint</a></div><div class="ttdeci">static double findClosestElementMidPoint(const ON_NurbsCurve &amp;nurbs, const Eigen::Vector3d &amp;pt)</div><div class="ttdoc">Given a point pt, the function finds the closest midpoint of the elements of the curve.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_a0cbfb2926c5daeb77755ee3ef7dedcdf"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a0cbfb2926c5daeb77755ee3ef7dedcdf">pcl::on_nurbs::FittingCurve::updateCurve</a></div><div class="ttdeci">void updateCurve(double damp)</div><div class="ttdoc">Update curve according to the current system of equations.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_a3812e959c790f53fa88d286caf1f3c87"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a3812e959c790f53fa88d286caf1f3c87">pcl::on_nurbs::FittingCurve::initNurbsCurvePCA</a></div><div class="ttdeci">static ON_NurbsCurve initNurbsCurvePCA(int order, const vector_vec3d &amp;data, int ncps=0, double rf=1.0)</div><div class="ttdoc">Initialize a closed B-Spline curve using the eigenvalues as elliptic parameters (z=0).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_a38742e8ab93864b2bc418a1ecb452cdd"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a38742e8ab93864b2bc418a1ecb452cdd">pcl::on_nurbs::FittingCurve::addCageRegularisation</a></div><div class="ttdeci">void addCageRegularisation(double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: smoothness by control point regularisation.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_a7dd6266488a9f753b5d55832b5d03036"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a7dd6266488a9f753b5d55832b5d03036">pcl::on_nurbs::FittingCurve::getElementVector</a></div><div class="ttdeci">static std::vector&lt; double &gt; getElementVector(const ON_NurbsCurve &amp;nurbs)</div><div class="ttdoc">Get the elements of a B-Spline curve.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_a9a07a7bb3dfa8a764ebe35c48b8a7933"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a9a07a7bb3dfa8a764ebe35c48b8a7933">pcl::on_nurbs::FittingCurve::inverseMapping</a></div><div class="ttdeci">static double inverseMapping(const ON_NurbsCurve &amp;nurbs, const Eigen::Vector3d &amp;pt, const double &amp;hint, double &amp;error, Eigen::Vector3d &amp;p, Eigen::Vector3d &amp;t, int maxSteps=100, double accuracy=1e-6, bool quiet=true)</div><div class="ttdoc">Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-S...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_aa2e3b04432b40f2501450476f4d9d8a5"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aa2e3b04432b40f2501450476f4d9d8a5">pcl::on_nurbs::FittingCurve::assembleInterior</a></div><div class="ttdeci">void assembleInterior(double wInt, unsigned &amp;row)</div><div class="ttdoc">Assemble point-to-surface constraints.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_aa84f2a5cf4c63f4f32cb6c64401e933e"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aa84f2a5cf4c63f4f32cb6c64401e933e">pcl::on_nurbs::FittingCurve::addPointConstraint</a></div><div class="ttdeci">void addPointConstraint(const double &amp;param, const Eigen::Vector3d &amp;point, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: point-to-surface distance (point-distance-minimization).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_ac986784079b5dafd7ab578b0415f8a7c"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ac986784079b5dafd7ab578b0415f8a7c">pcl::on_nurbs::FittingCurve::refine</a></div><div class="ttdeci">void refine()</div><div class="ttdoc">Refines curve by inserting a knot in the middle of each element.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_acccbca624d0279f369c0ddc3421cb0e3"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#acccbca624d0279f369c0ddc3421cb0e3">pcl::on_nurbs::FittingCurve::FittingCurve</a></div><div class="ttdeci">FittingCurve(int order, NurbsDataCurve *data)</div><div class="ttdoc">Constructor initializing B-Spline curve using initNurbsCurve2D(...).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_ae5ab9b5d79b88150a791f259538106f9"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ae5ab9b5d79b88150a791f259538106f9">pcl::on_nurbs::FittingCurve::initNurbsCurve2D</a></div><div class="ttdeci">static ON_NurbsCurve initNurbsCurve2D(int order, const vector_vec2d &amp;data)</div><div class="ttdoc">Initialize a closed B-Spline curve using the bounding circle of the point-cloud.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_ae75cb080d3b9eb370bb51afd928f0b9c"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ae75cb080d3b9eb370bb51afd928f0b9c">pcl::on_nurbs::FittingCurve::setQuiet</a></div><div class="ttdeci">void setQuiet(bool val)</div><div class="ttdoc">Enable/Disable debug outputs in console.</div><div class="ttdef"><b>Definition:</b> fitting_curve_pdm.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_aefb1370337dea2ba393b464fe0fcd0a0"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aefb1370337dea2ba393b464fe0fcd0a0">pcl::on_nurbs::FittingCurve::assemble</a></div><div class="ttdeci">void assemble(const Parameter &amp;parameter)</div><div class="ttdoc">Assemble the system of equations for fitting</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_afd08fb0cd959bc8d6e5fb3dcf2049f27"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afd08fb0cd959bc8d6e5fb3dcf2049f27">pcl::on_nurbs::FittingCurve::solve</a></div><div class="ttdeci">void solve(double damp=1.0)</div><div class="ttdoc">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake),...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_afe26453bc08dabd7215946a7ff4f9841"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afe26453bc08dabd7215946a7ff4f9841">pcl::on_nurbs::FittingCurve::findElement</a></div><div class="ttdeci">static int findElement(double xi, const std::vector&lt; double &gt; &amp;elements)</div><div class="ttdoc">Find the element in which the parameter xi lies.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve_html_afeb7342a529b00bcc0ce6091cac8783f"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afeb7342a529b00bcc0ce6091cac8783f">pcl::on_nurbs::FittingCurve::FittingCurve</a></div><div class="ttdeci">FittingCurve(NurbsDataCurve *data, const ON_NurbsCurve &amp;ns)</div><div class="ttdoc">Constructor initializing with the B-Spline curve given in argument 2.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_nurbs_solve_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">pcl::on_nurbs::NurbsSolve</a></div><div class="ttdoc">Solving the linear system of equations using Eigen or UmfPack. (can be defined in on_nurbs....</div><div class="ttdef"><b>Definition:</b> nurbs_solve.h:54</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_fitting_curve_1_1_parameter_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_fitting_curve_1_1_parameter.html">pcl::on_nurbs::FittingCurve::Parameter</a></div><div class="ttdef"><b>Definition:</b> fitting_curve_pdm.h:61</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_nurbs_data_curve_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve.html">pcl::on_nurbs::NurbsDataCurve</a></div><div class="ttdoc">Data structure for 3D NURBS curve fitting (FittingCurve)</div><div class="ttdef"><b>Definition:</b> nurbs_data.h:138</div></div>
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